多传感器组合导航中的数据融合

Data mixing together of multi-sensors integrated navigation

目的通过估计误差方差阵,对多传感器组合导航系统中不同的融合数据进行定位精度比较,为系统定位提供选择数据的依据。方法基于递推加权最小二乘法研究多传感器组合导航系统中的数据融合,讨论估计误差方差阵的推导过程及系统定位精度的计算。结果仿真结果表明,由于采用的递推加权最小二乘法比最小二乘法更能反应实际测量过程,可更有效地组合多个数据,系统定位性能要好。结论为多传感器组合导航系统提供了一种有效的数据融合方法,对工程的预研和实施有非常重要的意义。

Aim Using the variance matrix of estimated error,positional accuracy can be compared with different mixing together data,it has put forward a kind of basis for system location to select data.Methods Study data mixing together in multi-sensors integrated navigation system based on weighed least square method,introduce how to deduce the variance matrix of estimated error and how to calculate systematic positional accuracy.Results The simulation result shows the more mixing together data,the higher quality,the better systematic performance.Since adopting the recurrence weighted least squares method can more respond actually measure course than least square.Conclusion It has offered a kind of effective data mixing together method of multi-sensor integrated navigation system and is of very important meaning for project in advance and practice.